Can I animate a model made in ZBrush?
Yes, you can, here is how:

Export your model from zbrush(id recommend a .obj).in blender you can open the .obj useing (File>Import>Wavefront Obj)

Now your model is ready for animation.

Note:
In zbursh it is important that you do not export a raw sculpt, since that will not work for animation in any software. Always retopoligize it.